adjust API in tests as well

Author: Nibanovic

kinematics_interface_kdl/test/test_kinematics_interface_kdl.cpp

@@ -28,6 +28,8 @@ class TestKDLPlugin : public ::testing::Test
   std::shared_ptr<kinematics_interface::KinematicsInterface> ik_;
   std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_;
   std::string end_effector_ = "link2";
+  std::string urdf_ = std::string(ros2_control_test_assets::urdf_head) +
+                      std::string(ros2_control_test_assets::urdf_tail);
 
   void SetUp()
   {
@@ -50,9 +52,7 @@ class TestKDLPlugin : public ::testing::Test
 
   void loadURDFParameter()
   {
-    auto urdf = std::string(ros2_control_test_assets::urdf_head) +
-                std::string(ros2_control_test_assets::urdf_tail);
-    rclcpp::Parameter param("robot_description", urdf);
+    rclcpp::Parameter param("robot_description", urdf_);
     node_->declare_parameter("robot_description", "");
     node_->set_parameter(param);
   }
@@ -63,16 +63,29 @@ class TestKDLPlugin : public ::testing::Test
     node_->declare_parameter("alpha", 0.005);
     node_->set_parameter(param);
   }
+
+  /**
+   * \brief Used for testing initialization from parameters.
+   * Elsewhere, `end_effector_` member is used.
+  */
+  void loadTipParameter()
+  { 
+    
+    rclcpp::Parameter param("tip", "link2");
+    node_->declare_parameter("tip", "link2");
+    node_->set_parameter(param);
+  }
 };
 
 TEST_F(TestKDLPlugin, KDL_plugin_function)
 {
   // load robot description and alpha to parameter server
   loadURDFParameter();
   loadAlphaParameter();
+  loadTipParameter();
 
   // initialize the  plugin
-  ASSERT_TRUE(ik_->initialize(node_->get_node_parameters_interface(), end_effector_));
+  ASSERT_TRUE(ik_->initialize(urdf_, node_->get_node_parameters_interface(), ""));
 
   // calculate end effector transform
   Eigen::Matrix<double, Eigen::Dynamic, 1> pos = Eigen::Matrix<double, 2, 1>::Zero();
@@ -103,9 +116,10 @@ TEST_F(TestKDLPlugin, KDL_plugin_function_std_vector)
   // load robot description and alpha to parameter server
   loadURDFParameter();
   loadAlphaParameter();
+  loadTipParameter();
 
   // initialize the  plugin
-  ASSERT_TRUE(ik_->initialize(node_->get_node_parameters_interface(), end_effector_));
+  ASSERT_TRUE(ik_->initialize(urdf_, node_->get_node_parameters_interface(), ""));
 
   // calculate end effector transform
   std::vector<double> pos = {0, 0};
@@ -136,9 +150,10 @@ TEST_F(TestKDLPlugin, incorrect_input_sizes)
   // load robot description and alpha to parameter server
   loadURDFParameter();
   loadAlphaParameter();
+  loadTipParameter();
 
   // initialize the  plugin
-  ASSERT_TRUE(ik_->initialize(node_->get_node_parameters_interface(), end_effector_));
+  ASSERT_TRUE(ik_->initialize(urdf_, node_->get_node_parameters_interface(), ""));
 
   // define correct values
   Eigen::Matrix<double, Eigen::Dynamic, 1> pos = Eigen::Matrix<double, 2, 1>::Zero();
@@ -175,5 +190,6 @@ TEST_F(TestKDLPlugin, KDL_plugin_no_robot_description)
 {
   // load alpha to parameter server
   loadAlphaParameter();
-  ASSERT_FALSE(ik_->initialize(node_->get_node_parameters_interface(), end_effector_));
+  loadTipParameter();
+  ASSERT_FALSE(ik_->initialize("", node_->get_node_parameters_interface(), ""));
 }